Add mesh geometry to BuoyancyPlugin #489
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@caguero I would prefer you not merge master since this will cause merge conflicts down the road as several of my PRs build on top of each other. Instead of trying to upkeep PRs I would much prefer if the team spent the time to review them. Edit: I have manually done the rebase myself if that helps. |
remove buoyancy code inside usv dyanmics, model wamv buoyancy as two buoyant cylinders in location of pontoons
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This allows the support for using a mesh file as the geometry used in the buoyancy computations. The buoyancy force computed from this PR is verified within 100N of the original buoyancy code. Which is close enough, to believe that this PR provides a more accurate buoyancy computation than the existing code.
Closes #488